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<div class="textblock"><code>#include &quot;gmock/gmock.h&quot;</code><br />
<code>#include &quot;gtest/gtest.h&quot;</code><br />
<code>#include &quot;<a class="el" href="../../db/d61/_b_spline_basic_8h_source.html">Utilities/BSplineBasic.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d7/d66/_bezier_curve_8h_source.html">Utilities/BezierCurve.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d3/d68/_utilities__print_8h_source.html">Utilities/Utilities_print.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d4/dad/save__file_8h_source.html">Utilities/save_file.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="../../de/df0/utilities_8h_source.html">Utilities/utilities.h</a>&quot;</code><br />
<code>#include &lt;Configuration.h&gt;</code><br />
<code>#include &quot;../user/WBC_Controller/WBC_States/Bounding/CtrlSet/ImpulseCurve.hpp&quot;</code><br />
<code>#include &quot;<a class="el" href="../../d5/d29/_timer_8h_source.html">Utilities/Timer.h</a>&quot;</code><br />
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          <td class="paramname">, </td>
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<p>Definition at line <a class="el" href="../../d4/d98/test__spline_8cpp_source.html#l00015">15</a> of file <a class="el" href="../../d4/d98/test__spline_8cpp_source.html">test_spline.cpp</a>.</p>

<p>References <a class="el" href="../../de/df0/utilities_8h_source.html#l00015">fpEqual()</a>, <a class="el" href="../../d7/d66/_bezier_curve_8h_source.html#l00036">BezierCurve&lt; T, DIM, NUM_CTR_PT &gt;::getCurvePoint()</a>, <a class="el" href="../../d7/d66/_bezier_curve_8h_source.html#l00060">BezierCurve&lt; T, DIM, NUM_CTR_PT &gt;::getCurveVelocity()</a>, and <a class="el" href="../../d7/d66/_bezier_curve_8h_source.html#l00024">BezierCurve&lt; T, DIM, NUM_CTR_PT &gt;::SetParam()</a>.</p>
<div class="fragment"><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;                               {</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;  constexpr <span class="keywordtype">int</span> dim = 3;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;  constexpr <span class="keywordtype">int</span> num_ctrl_pt = 4;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;  <a class="code" href="../../df/da0/class_bezier_curve.html">BezierCurve&lt;double, dim, num_ctrl_pt&gt;</a> bc;</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;  <span class="keywordtype">double</span>** ctrl_pt = <span class="keyword">new</span> <span class="keywordtype">double</span>*[num_ctrl_pt];</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; 4; ++i) {</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    ctrl_pt[i] = <span class="keyword">new</span> <span class="keywordtype">double</span>[dim];</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;  }</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;  <span class="keywordtype">double</span> gap(0.1);</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;  <span class="comment">// Initial</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;  ctrl_pt[0][0] = 0.0;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;  ctrl_pt[0][1] = 0.0;</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;  ctrl_pt[0][2] = 0.4;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;  <span class="comment">// mid 1</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;  ctrl_pt[1][0] = 0.4;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  ctrl_pt[1][1] = -0.7;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;  ctrl_pt[1][2] = ctrl_pt[0][2] + gap * 0.3;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <span class="comment">// mid 2</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;  ctrl_pt[2][0] = 2.5;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;  ctrl_pt[2][1] = 0.5;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  ctrl_pt[2][2] = ctrl_pt[1][2] + gap * 0.6;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;  <span class="comment">// Final</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  ctrl_pt[3][0] = 4.2;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;  ctrl_pt[3][1] = -1.0;</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  ctrl_pt[3][2] = ctrl_pt[2][2] + gap * 1.0;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keywordtype">double</span> end_time(3.);</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  bc.<a class="code" href="../../df/da0/class_bezier_curve.html#a6b0d1dfab02b83f2a0ddcc998e359eef">SetParam</a>(ctrl_pt, end_time);</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keywordtype">double</span> curve_pt[dim];</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  <span class="keywordtype">double</span> curve_vel[dim];</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="comment">// 2nd curve</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="keywordtype">double</span> mid_time(2.);</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  bc.<a class="code" href="../../df/da0/class_bezier_curve.html#a805009db14dd135e46f55d83c7463d69">getCurvePoint</a>(mid_time, curve_pt);</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i(0); i &lt; dim; ++i) ctrl_pt[0][i] = curve_pt[i];</div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  ctrl_pt[1][2] = ctrl_pt[0][2] + gap;</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  ctrl_pt[2][2] = ctrl_pt[1][2] + gap * 1.3;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  ctrl_pt[3][2] = ctrl_pt[2][2] + gap * 1.7;</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <a class="code" href="../../df/da0/class_bezier_curve.html">BezierCurve&lt;double, dim, num_ctrl_pt&gt;</a> bc2;</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  bc2.<a class="code" href="../../df/da0/class_bezier_curve.html#a6b0d1dfab02b83f2a0ddcc998e359eef">SetParam</a>(ctrl_pt, end_time);</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  <span class="comment">// std::string folder_name = &quot;/common/test/test_data/&quot;;</span></div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="comment">//create_folder(folder_name);</span></div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordtype">double</span> t;</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keywordtype">double</span> dt = 0.005;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; 1001; ++i) {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    t = (double)i * dt;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordflow">if</span> (t &lt; mid_time) {</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      bc.<a class="code" href="../../df/da0/class_bezier_curve.html#a805009db14dd135e46f55d83c7463d69">getCurvePoint</a>(t, curve_pt);</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      bc.<a class="code" href="../../df/da0/class_bezier_curve.html#aec81de7e144ac68128c19f16c24880a6">getCurveVelocity</a>(t, curve_vel);</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      bc2.<a class="code" href="../../df/da0/class_bezier_curve.html#a805009db14dd135e46f55d83c7463d69">getCurvePoint</a>(t - mid_time, curve_pt);</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      bc2.<a class="code" href="../../df/da0/class_bezier_curve.html#aec81de7e144ac68128c19f16c24880a6">getCurveVelocity</a>(t - mid_time, curve_vel);</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    }</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;<span class="comment">//    saveVector(curve_pt, folder_name, &quot;bezier_pos&quot;, dim);</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="comment">//    saveVector(curve_vel, folder_name, &quot;bezier_vel&quot;, dim);</span></div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;<span class="comment">//    saveValue(t, folder_name, &quot;bz_time&quot;);</span></div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  }</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  bc.<a class="code" href="../../df/da0/class_bezier_curve.html#a805009db14dd135e46f55d83c7463d69">getCurvePoint</a>(0., curve_pt);</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve_pt[0], 0., .0001));</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve_pt[1], 0.0, .0001));</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve_pt[2], 0.4, .0001));</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  bc.<a class="code" href="../../df/da0/class_bezier_curve.html#a805009db14dd135e46f55d83c7463d69">getCurvePoint</a>(end_time, curve_pt);</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve_pt[0], 4.2, .0001));</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve_pt[1], -1.0, .0001));</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="comment">// EXPECT_TRUE(fpEqual(curve_pt[2], 0.9, .0001));</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; num_ctrl_pt; ++i) {</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keyword">delete</span>[] ctrl_pt[i];</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  }</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keyword">delete</span>[] ctrl_pt;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;}</div><div class="ttc" id="utilities_8h_html_a16ea9aab4737c2622bc370d6a8613d63"><div class="ttname"><a href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a></div><div class="ttdeci">bool fpEqual(T a, T b, T tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/df0/utilities_8h_source.html#l00015">utilities.h:15</a></div></div>
<div class="ttc" id="class_bezier_curve_html"><div class="ttname"><a href="../../df/da0/class_bezier_curve.html">BezierCurve</a></div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d66/_bezier_curve_8h_source.html#l00008">BezierCurve.h:8</a></div></div>
<div class="ttc" id="class_bezier_curve_html_a6b0d1dfab02b83f2a0ddcc998e359eef"><div class="ttname"><a href="../../df/da0/class_bezier_curve.html#a6b0d1dfab02b83f2a0ddcc998e359eef">BezierCurve::SetParam</a></div><div class="ttdeci">bool SetParam(T **ctrl_pt, T fin_time)</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d66/_bezier_curve_8h_source.html#l00024">BezierCurve.h:24</a></div></div>
<div class="ttc" id="class_bezier_curve_html_a805009db14dd135e46f55d83c7463d69"><div class="ttname"><a href="../../df/da0/class_bezier_curve.html#a805009db14dd135e46f55d83c7463d69">BezierCurve::getCurvePoint</a></div><div class="ttdeci">bool getCurvePoint(T u, T *ret)</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d66/_bezier_curve_8h_source.html#l00036">BezierCurve.h:36</a></div></div>
<div class="ttc" id="class_bezier_curve_html_aec81de7e144ac68128c19f16c24880a6"><div class="ttname"><a href="../../df/da0/class_bezier_curve.html#aec81de7e144ac68128c19f16c24880a6">BezierCurve::getCurveVelocity</a></div><div class="ttdeci">bool getCurveVelocity(T u, T *ret)</div><div class="ttdef"><b>Definition:</b> <a href="../../d7/d66/_bezier_curve_8h_source.html#l00060">BezierCurve.h:60</a></div></div>
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          <td class="memname">TEST </td>
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          <td class="paramtype">Spline&#160;</td>
          <td class="paramname">, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">BSpline_test&#160;</td>
          <td class="paramname">&#160;</td>
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<p>Definition at line <a class="el" href="../../d4/d98/test__spline_8cpp_source.html#l00098">98</a> of file <a class="el" href="../../d4/d98/test__spline_8cpp_source.html">test_spline.cpp</a>.</p>

<p>References <a class="el" href="../../de/df0/utilities_8h_source.html#l00015">fpEqual()</a>, and <a class="el" href="../../db/d61/_b_spline_basic_8h_source.html#l00063">BS_Basic&lt; T, DIM, DEGREE, NUM_MIDDLE, CONST_LEVEL_INI, CONST_LEVEL_FIN &gt;::SetParam()</a>.</p>
<div class="fragment"><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                           {</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  constexpr <span class="keywordtype">int</span> dim_bs = 3;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  constexpr <span class="keywordtype">int</span> degree = 3;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  constexpr <span class="keywordtype">int</span> num_middle_pt = 3;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  constexpr <span class="keywordtype">int</span> ini_cstr_level = 2;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  constexpr <span class="keywordtype">int</span> fin_cstr_level = 2;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <a class="code" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt;double, dim_bs, degree, num_middle_pt, ini_cstr_level,</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;           fin_cstr_level&gt;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      bs;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keywordtype">double</span> ini_pt[dim_bs * (degree)];</div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keywordtype">double</span> fin_pt[dim_bs * (degree)];</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; dim_bs * degree; ++i) {</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    ini_pt[i] = 0.;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    fin_pt[i] = 0.;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  }</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  <span class="keywordtype">double</span> height_gap = 0.3;</div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  ini_pt[0] = 0.0;  <span class="comment">// Initial</span></div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  ini_pt[1] = 0.0;</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  ini_pt[2] = 0.4;</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordtype">double</span>** middle_pt = NULL;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  <span class="keywordflow">if</span> (num_middle_pt &gt; 1) {</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    middle_pt = <span class="keyword">new</span> <span class="keywordtype">double</span>*[num_middle_pt];</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; num_middle_pt; ++i) {</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      middle_pt[i] = <span class="keyword">new</span> <span class="keywordtype">double</span>[dim_bs];</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    }</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="comment">// Middle 1</span></div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    middle_pt[0][0] = 0.4;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    middle_pt[0][1] = -0.7;</div><div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    middle_pt[0][2] = ini_pt[2] + height_gap * 0.25;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="comment">// Middle 2</span></div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    middle_pt[1][0] = 0.4;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    middle_pt[1][1] = -0.7;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    middle_pt[1][2] = ini_pt[2] + height_gap * 0.5;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="comment">// Middle 3</span></div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    middle_pt[2][0] = 2.5;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    middle_pt[2][1] = 0.5;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    middle_pt[2][2] = ini_pt[2] + height_gap * 0.75;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  }</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="comment">// Final</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  fin_pt[0] = 4.2;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  fin_pt[1] = -1.0;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  fin_pt[2] = ini_pt[2] + height_gap;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  fin_pt[3] = 0.0;  <span class="comment">// Final vel</span></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  fin_pt[4] = 0.0;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  fin_pt[5] = 0.0;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  fin_pt[6] = 0.0;  <span class="comment">// Final acc</span></div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  fin_pt[7] = 0.0;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  fin_pt[8] = 0.0;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordtype">double</span> end_time(4.);</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  bs.SetParam(ini_pt, fin_pt, middle_pt, end_time);</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <span class="keywordtype">double</span> curve_pt[dim_bs];</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="keywordtype">double</span> curve_vel[dim_bs];</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="keywordtype">double</span> curve_acc[dim_bs];</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="keywordtype">double</span> curve_d3[dim_bs];</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="comment">// Spline 2</span></div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keywordtype">double</span> mid_time(1.);</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  bs.getCurvePoint(mid_time, curve_pt);</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  bs.getCurveDerPoint(mid_time, 1, curve_vel);</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  bs.getCurveDerPoint(mid_time, 2, curve_acc);</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordflow">if</span> (degree &gt; 3) {</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    bs.getCurveDerPoint(mid_time, 3, curve_d3);</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  }</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <a class="code" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt;double, dim_bs, degree, num_middle_pt, ini_cstr_level,</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;           fin_cstr_level&gt;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      bs_2;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="keywordtype">double</span> ini_pt2[dim_bs * degree];</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keywordtype">double</span> fin_pt2[dim_bs * degree];</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; dim_bs * degree; ++i) {</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    ini_pt2[i] = 0.;</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;    fin_pt2[i] = 0.;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  }</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; 3; ++i) {</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;    ini_pt2[i] = curve_pt[i];  <span class="comment">// Initial</span></div><div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    ini_pt2[i + 3] = curve_vel[i];</div><div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    ini_pt2[i + 6] = curve_acc[i];</div><div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;</div><div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="keywordflow">if</span> (degree &gt; 3) ini_pt2[i + 9] = curve_d3[i];</div><div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  }</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="keywordtype">double</span>** middle_pt2 = NULL;</div><div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  <span class="keywordflow">if</span> (num_middle_pt &gt; 0) {</div><div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    middle_pt2 = <span class="keyword">new</span> <span class="keywordtype">double</span>*[num_middle_pt];</div><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; num_middle_pt; ++i) {</div><div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      middle_pt2[i] = <span class="keyword">new</span> <span class="keywordtype">double</span>[dim_bs];</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    }</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;    <span class="comment">// Middle 1</span></div><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    middle_pt2[0][0] = 0.4;</div><div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    middle_pt2[0][1] = -0.7;</div><div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    middle_pt2[0][2] = ini_pt2[2] + height_gap * 0.25;</div><div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    <span class="comment">// Middle 2</span></div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    middle_pt2[1][0] = 0.4;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    middle_pt2[1][1] = -0.7;</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    middle_pt2[1][2] = ini_pt2[2] + height_gap * 0.5;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;    <span class="comment">// Middle 3</span></div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    middle_pt2[2][0] = 2.5;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    middle_pt2[2][1] = 0.5;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    middle_pt2[2][2] = ini_pt2[2] + height_gap * 0.75;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  }</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="comment">// Final</span></div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  fin_pt2[0] = 4.2;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  fin_pt2[1] = -1.0;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  fin_pt2[2] = ini_pt2[2] + height_gap;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  bs_2.<a class="code" href="../../d9/da0/class_b_s___basic.html#a432ccfe3f11e915682afa668a41407b5">SetParam</a>(ini_pt2, fin_pt2, middle_pt2, end_time);</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keywordtype">double</span> t;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  <span class="keywordtype">double</span> dt(0.005);</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; 1001; ++i) {</div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    t = (double)i * dt;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div><div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;    <span class="keywordflow">if</span> (t &lt; mid_time) {</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      bs.getCurvePoint(t, curve_pt);</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      bs.getCurveDerPoint(t, 1, curve_vel);</div><div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      bs.getCurveDerPoint(t, 2, curve_acc);</div><div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    } <span class="keywordflow">else</span> {</div><div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      bs_2.getCurvePoint(t - mid_time, curve_pt);</div><div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      bs_2.getCurveDerPoint(t - mid_time, 1, curve_vel);</div><div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      bs_2.getCurveDerPoint(t - mid_time, 2, curve_acc);</div><div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    }</div><div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="comment">// saveVector(curve_pt, folder_name, &quot;bspline_pos&quot;, dim_bs);</span></div><div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;    <span class="comment">// saveVector(curve_vel, folder_name, &quot;bspline_vel&quot;, dim_bs);</span></div><div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;    <span class="comment">// saveVector(curve_acc, folder_name, &quot;bspline_acc&quot;, dim_bs);</span></div><div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;    <span class="comment">// saveValue(t, folder_name, &quot;bs_time&quot;);</span></div><div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  }</div><div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;</div><div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  bs.getCurvePoint(0., curve_pt);</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve_pt[0], 0., .0001));</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve_pt[1], 0.0, .0001));</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve_pt[2], 0.4, .0001));</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  bs.getCurvePoint(end_time, curve_pt);</div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve_pt[0], 4.2, .0001));</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve_pt[1], -1.0, .0001));</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="comment">// EXPECT_TRUE(fpEqual(curve_pt[2], ini_pt[2]+ height_gap, .0001));</span></div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;</div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  bs.getCurveDerPoint(end_time, 2, curve_acc);</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve_acc[0], 0., .0001));</div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve_acc[1], 0.0, .0001));</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve_acc[2], 0.0, .0001));</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; num_middle_pt; ++i) {</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keyword">delete</span>[] middle_pt[i];</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  }</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keyword">delete</span>[] middle_pt;</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;}</div><div class="ttc" id="class_b_s___basic_html"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html">BS_Basic</a></div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00035">BSplineBasic.h:35</a></div></div>
<div class="ttc" id="utilities_8h_html_a16ea9aab4737c2622bc370d6a8613d63"><div class="ttname"><a href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a></div><div class="ttdeci">bool fpEqual(T a, T b, T tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/df0/utilities_8h_source.html#l00015">utilities.h:15</a></div></div>
<div class="ttc" id="class_b_s___basic_html_a432ccfe3f11e915682afa668a41407b5"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html#a432ccfe3f11e915682afa668a41407b5">BS_Basic::SetParam</a></div><div class="ttdeci">bool SetParam(T *init, T *fin, T **middle_pt, T fin_time)</div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00063">BSplineBasic.h:63</a></div></div>
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          <td class="memname">TEST </td>
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          <td class="paramtype">Spline&#160;</td>
          <td class="paramname">, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">BSpline_1D_test&#160;</td>
          <td class="paramname">&#160;</td>
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<p>Definition at line <a class="el" href="../../d4/d98/test__spline_8cpp_source.html#l00258">258</a> of file <a class="el" href="../../d4/d98/test__spline_8cpp_source.html">test_spline.cpp</a>.</p>
<div class="fragment"><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;                              {</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  constexpr <span class="keywordtype">int</span> dim_bs = 1;</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  constexpr <span class="keywordtype">int</span> degree = 3;</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  constexpr <span class="keywordtype">int</span> num_middle_pt = 3;</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  constexpr <span class="keywordtype">int</span> ini_cstr_level = 2;</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  constexpr <span class="keywordtype">int</span> fin_cstr_level = 2;</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <a class="code" href="../../d9/da0/class_b_s___basic.html">BS_Basic</a>&lt;double, dim_bs, degree, num_middle_pt, ini_cstr_level,</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;           fin_cstr_level&gt;</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      bs;</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <span class="keywordtype">double</span> ini_pt[dim_bs * (degree)];</div><div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <span class="keywordtype">double</span> fin_pt[dim_bs * (degree)];</div><div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;</div><div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; dim_bs * degree; ++i) {</div><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    ini_pt[i] = 0.;</div><div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    fin_pt[i] = 0.;</div><div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  }</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keywordtype">double</span> height_gap = 0.3;</div><div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  ini_pt[0] = 0.2;  <span class="comment">// Initial</span></div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  ini_pt[1] = 0.0;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  ini_pt[2] = 0.0;</div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;</div><div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordtype">double</span>** middle_pt = NULL;</div><div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keywordflow">if</span> (num_middle_pt &gt; 1) {</div><div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    middle_pt = <span class="keyword">new</span> <span class="keywordtype">double</span>*[num_middle_pt];</div><div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; num_middle_pt; ++i) {</div><div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      middle_pt[i] = <span class="keyword">new</span> <span class="keywordtype">double</span>[dim_bs];</div><div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    }</div><div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    <span class="comment">// Middle 1</span></div><div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    middle_pt[0][0] = ini_pt[0] + height_gap * 0.25;</div><div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;</div><div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="comment">// Middle 2</span></div><div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    middle_pt[1][0] = ini_pt[0] + height_gap * 0.5;</div><div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;</div><div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="comment">// Middle 3</span></div><div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;    middle_pt[2][0] = ini_pt[0] + height_gap * 0.75;</div><div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  }</div><div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="comment">// Final</span></div><div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  fin_pt[0] = ini_pt[0] + height_gap;</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;</div><div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  <span class="keywordtype">double</span> end_time(5.);</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  bs.SetParam(ini_pt, fin_pt, middle_pt, end_time);</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;</div><div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  <span class="keywordtype">double</span> curve_pt[dim_bs];</div><div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  curve_pt[0] = 0.;</div><div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  <span class="keywordtype">double</span> curve_vel[dim_bs];</div><div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  curve_vel[0] = 0.;</div><div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;  <span class="keywordtype">double</span> curve_acc[dim_bs];</div><div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;  curve_acc[0] = 0.;</div><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;  <span class="keywordtype">double</span> t;</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  <span class="keywordtype">double</span> dt(0.005);</div><div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <a class="code" href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3&lt;double&gt;</a> bs_pva;</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; 1001; ++i) {</div><div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    t = (double)i * dt;</div><div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    bs.getCurvePoint(t, curve_pt);</div><div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;    bs.getCurveDerPoint(t, 1, curve_vel);</div><div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;    bs.getCurveDerPoint(t, 2, curve_acc);</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;</div><div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    bs_pva[0] = curve_pt[0];</div><div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    bs_pva[1] = curve_vel[0];</div><div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;    bs_pva[2] = curve_acc[0];</div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="comment">//    saveVector(bs_pva, folder_name, &quot;bspline_1d&quot;);</span></div><div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;<span class="comment">//    saveValue(t, folder_name, &quot;bs_time_1d&quot;);</span></div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  }</div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;</div><div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(0); i &lt; num_middle_pt; ++i) {</div><div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;    <span class="keyword">delete</span>[] middle_pt[i];</div><div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  }</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  <span class="keyword">delete</span>[] middle_pt;</div><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;}</div><div class="ttc" id="class_b_s___basic_html"><div class="ttname"><a href="../../d9/da0/class_b_s___basic.html">BS_Basic</a></div><div class="ttdef"><b>Definition:</b> <a href="../../db/d61/_b_spline_basic_8h_source.html#l00035">BSplineBasic.h:35</a></div></div>
<div class="ttc" id="cpp_types_8h_html_a6f07728c866b15ff0676a9b2ebfd2ba6"><div class="ttname"><a href="../../d9/d8e/cpp_types_8h.html#a6f07728c866b15ff0676a9b2ebfd2ba6">Vec3</a></div><div class="ttdeci">typename Eigen::Matrix&lt; T, 3, 1 &gt; Vec3</div><div class="ttdef"><b>Definition:</b> <a href="../../d9/d8e/cpp_types_8h_source.html#l00026">cppTypes.h:26</a></div></div>
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          <td class="memname">TEST </td>
          <td>(</td>
          <td class="paramtype">Spline&#160;</td>
          <td class="paramname">, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">ImpulseCurve&#160;</td>
          <td class="paramname">&#160;</td>
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<p>Definition at line <a class="el" href="../../d4/d98/test__spline_8cpp_source.html#l00331">331</a> of file <a class="el" href="../../d4/d98/test__spline_8cpp_source.html">test_spline.cpp</a>.</p>

<p>References <a class="el" href="../../de/df0/utilities_8h_source.html#l00015">fpEqual()</a>.</p>
<div class="fragment"><div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;                           {</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  ImpulseCurve&lt;double&gt; curve;</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;</div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  <span class="keywordtype">double</span> apex_value(2.9);</div><div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  <span class="keywordtype">double</span> time(0.1);</div><div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  curve.setCurve(apex_value, time);</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;</div><div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  <span class="keywordtype">double</span> curve_pt;</div><div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  <span class="keywordtype">double</span> t;</div><div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;  <span class="keywordtype">double</span> dt(0.001);</div><div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;  <span class="keywordtype">double</span> sum(0.);</div><div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i(-10); i &lt; 501; ++i) {</div><div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    t = (double)i * dt;</div><div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;</div><div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    curve_pt = curve.getValue(t);</div><div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    sum += (curve_pt * dt);</div><div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;<span class="comment">//    saveValue(curve_pt, folder_name, &quot;curve_pos&quot;);</span></div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;<span class="comment">//    saveValue(t, folder_name, &quot;curve_time&quot;);</span></div><div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  }</div><div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <span class="keywordtype">double</span> integrated_value = 0.7 * apex_value * time;</div><div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;</div><div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  <span class="comment">// printf(&quot;sum, integration: (%f, %f)\n&quot;, sum, integrated_value);</span></div><div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(curve.getValue(time / 2.), apex_value, .0001));</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  EXPECT_TRUE(<a class="code" href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a>(integrated_value, sum, .0001));</div><div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;}</div><div class="ttc" id="utilities_8h_html_a16ea9aab4737c2622bc370d6a8613d63"><div class="ttname"><a href="../../de/df0/utilities_8h.html#a16ea9aab4737c2622bc370d6a8613d63">fpEqual</a></div><div class="ttdeci">bool fpEqual(T a, T b, T tol)</div><div class="ttdef"><b>Definition:</b> <a href="../../de/df0/utilities_8h_source.html#l00015">utilities.h:15</a></div></div>
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<h2 class="groupheader">Variable Documentation</h2>
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<p>Definition at line <a class="el" href="../../d4/d98/test__spline_8cpp_source.html#l00013">13</a> of file <a class="el" href="../../d4/d98/test__spline_8cpp_source.html">test_spline.cpp</a>.</p>

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